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<div class="textblock"><code>#include &quot;<a class="el" href="ObTypes_8h_source.html">ObTypes.h</a>&quot;</code><br />
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<p><a href="Utils_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:ab31c571d9d935a9bd3fa8129f8f43cbe"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Utils_8h.html#ab31c571d9d935a9bd3fa8129f8f43cbe">ob_calibration_3d_to_3d</a> (const <a class="el" href="ObTypes_8h.html#a43c62630ddfd3f531f9a5ff624907f62">ob_calibration_param</a> calibration_param, const <a class="el" href="ObTypes_8h.html#a381f1c956494d6ee51829391abd1d59f">ob_point3f</a> source_point3f, const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a> source_sensor_type, const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a> target_sensor_type, <a class="el" href="ObTypes_8h.html#a381f1c956494d6ee51829391abd1d59f">ob_point3f</a> *target_point3f, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:ab31c571d9d935a9bd3fa8129f8f43cbe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.  <a href="#ab31c571d9d935a9bd3fa8129f8f43cbe">More...</a><br /></td></tr>
<tr class="separator:ab31c571d9d935a9bd3fa8129f8f43cbe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a685e9d9afb5a0eb1efc4716772b6b398"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Utils_8h.html#a685e9d9afb5a0eb1efc4716772b6b398">ob_calibration_2d_to_3d</a> (const <a class="el" href="ObTypes_8h.html#a43c62630ddfd3f531f9a5ff624907f62">ob_calibration_param</a> calibration_param, const <a class="el" href="ObTypes_8h.html#a2705c1be45a69c1e24d1e2e7930ac26f">ob_point2f</a> source_point2f, const float source_depth_pixel_value, const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a> source_sensor_type, const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a> target_sensor_type, <a class="el" href="ObTypes_8h.html#a381f1c956494d6ee51829391abd1d59f">ob_point3f</a> *target_point3f, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a685e9d9afb5a0eb1efc4716772b6b398"><td class="mdescLeft">&#160;</td><td class="mdescRight">Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.  <a href="#a685e9d9afb5a0eb1efc4716772b6b398">More...</a><br /></td></tr>
<tr class="separator:a685e9d9afb5a0eb1efc4716772b6b398"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac38fb189c2c0b3511f71f3361dc1cba9"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Utils_8h.html#ac38fb189c2c0b3511f71f3361dc1cba9">ob_calibration_2d_to_3d_undistortion</a> (const <a class="el" href="ObTypes_8h.html#a43c62630ddfd3f531f9a5ff624907f62">ob_calibration_param</a> calibration_param, const <a class="el" href="ObTypes_8h.html#a2705c1be45a69c1e24d1e2e7930ac26f">ob_point2f</a> source_point2f, const float source_depth_pixel_value, const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a> source_sensor_type, const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a> target_sensor_type, <a class="el" href="ObTypes_8h.html#a381f1c956494d6ee51829391abd1d59f">ob_point3f</a> *target_point3f, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:ac38fb189c2c0b3511f71f3361dc1cba9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.  <a href="#ac38fb189c2c0b3511f71f3361dc1cba9">More...</a><br /></td></tr>
<tr class="separator:ac38fb189c2c0b3511f71f3361dc1cba9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aff230d6d794917037333636af168f413"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Utils_8h.html#aff230d6d794917037333636af168f413">ob_calibration_3d_to_2d</a> (const <a class="el" href="ObTypes_8h.html#a43c62630ddfd3f531f9a5ff624907f62">ob_calibration_param</a> calibration_param, const <a class="el" href="ObTypes_8h.html#a381f1c956494d6ee51829391abd1d59f">ob_point3f</a> source_point3f, const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a> source_sensor_type, const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a> target_sensor_type, <a class="el" href="ObTypes_8h.html#a2705c1be45a69c1e24d1e2e7930ac26f">ob_point2f</a> *target_point2f, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:aff230d6d794917037333636af168f413"><td class="mdescLeft">&#160;</td><td class="mdescRight">Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.  <a href="#aff230d6d794917037333636af168f413">More...</a><br /></td></tr>
<tr class="separator:aff230d6d794917037333636af168f413"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3e95d2de0d19dd745f58837ea17b7d41"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Utils_8h.html#a3e95d2de0d19dd745f58837ea17b7d41">ob_calibration_2d_to_2d</a> (const <a class="el" href="ObTypes_8h.html#a43c62630ddfd3f531f9a5ff624907f62">ob_calibration_param</a> calibration_param, const <a class="el" href="ObTypes_8h.html#a2705c1be45a69c1e24d1e2e7930ac26f">ob_point2f</a> source_point2f, const float source_depth_pixel_value, const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a> source_sensor_type, const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a> target_sensor_type, <a class="el" href="ObTypes_8h.html#a2705c1be45a69c1e24d1e2e7930ac26f">ob_point2f</a> *target_point2f, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a3e95d2de0d19dd745f58837ea17b7d41"><td class="mdescLeft">&#160;</td><td class="mdescRight">Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel coordinate of the target camera.  <a href="#a3e95d2de0d19dd745f58837ea17b7d41">More...</a><br /></td></tr>
<tr class="separator:a3e95d2de0d19dd745f58837ea17b7d41"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a82807e04ca6e92240a13b55682e0be80"><td class="memItemLeft" align="right" valign="top"><a class="el" href="ObTypes_8h.html#a2d32dd7fcbb88ebb408e9f9081e6f896">ob_frame</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Utils_8h.html#a82807e04ca6e92240a13b55682e0be80">transformation_depth_frame_to_color_camera</a> (<a class="el" href="ObTypes_8h.html#a3c87c98acfd9b143bb58c731d95fa437">ob_device</a> *device, <a class="el" href="ObTypes_8h.html#a2d32dd7fcbb88ebb408e9f9081e6f896">ob_frame</a> *depth_frame, uint32_t target_color_camera_width, uint32_t target_color_camera_height, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a82807e04ca6e92240a13b55682e0be80"><td class="mdescLeft">&#160;</td><td class="mdescRight">Transforms the depth frame into the geometry of the color camera.  <a href="#a82807e04ca6e92240a13b55682e0be80">More...</a><br /></td></tr>
<tr class="separator:a82807e04ca6e92240a13b55682e0be80"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a124d390cebfeb7733e22427062c16d06"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Utils_8h.html#a124d390cebfeb7733e22427062c16d06">transformation_init_xy_tables</a> (const <a class="el" href="ObTypes_8h.html#a43c62630ddfd3f531f9a5ff624907f62">ob_calibration_param</a> calibration_param, const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a> sensor_type, float *data, uint32_t *data_size, <a class="el" href="ObTypes_8h.html#aa3bed1b8098ff8d526d8a118b2de5af6">ob_xy_tables</a> *xy_tables, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a124d390cebfeb7733e22427062c16d06"><td class="mdescLeft">&#160;</td><td class="mdescRight">Init transformation tables.  <a href="#a124d390cebfeb7733e22427062c16d06">More...</a><br /></td></tr>
<tr class="separator:a124d390cebfeb7733e22427062c16d06"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5aaea5ad49126881384a4b6e55402836"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Utils_8h.html#a5aaea5ad49126881384a4b6e55402836">transformation_depth_to_pointcloud</a> (<a class="el" href="ObTypes_8h.html#aa3bed1b8098ff8d526d8a118b2de5af6">ob_xy_tables</a> *xy_tables, const void *depth_image_data, void *pointcloud_data, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a5aaea5ad49126881384a4b6e55402836"><td class="mdescLeft">&#160;</td><td class="mdescRight">Transform depth image to point cloud data.  <a href="#a5aaea5ad49126881384a4b6e55402836">More...</a><br /></td></tr>
<tr class="separator:a5aaea5ad49126881384a4b6e55402836"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a96606c73d9837b12a3d4cc78aeabfab0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="Utils_8h.html#a96606c73d9837b12a3d4cc78aeabfab0">transformation_depth_to_rgbd_pointcloud</a> (<a class="el" href="ObTypes_8h.html#aa3bed1b8098ff8d526d8a118b2de5af6">ob_xy_tables</a> *xy_tables, const void *depth_image_data, const void *color_image_data, void *pointcloud_data, <a class="el" href="structob__error.html">ob_error</a> **error)</td></tr>
<tr class="memdesc:a96606c73d9837b12a3d4cc78aeabfab0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Transform depth image to point cloud data.  <a href="#a96606c73d9837b12a3d4cc78aeabfab0">More...</a><br /></td></tr>
<tr class="separator:a96606c73d9837b12a3d4cc78aeabfab0"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<h2 class="groupheader">Function Documentation</h2>
<a class="anchor" id="ab31c571d9d935a9bd3fa8129f8f43cbe"></a>
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<div class="memproto">
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        <tr>
          <td class="memname">bool ob_calibration_3d_to_3d </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a43c62630ddfd3f531f9a5ff624907f62">ob_calibration_param</a>&#160;</td>
          <td class="paramname"><em>calibration_param</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a381f1c956494d6ee51829391abd1d59f">ob_point3f</a>&#160;</td>
          <td class="paramname"><em>source_point3f</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a>&#160;</td>
          <td class="paramname"><em>source_sensor_type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a>&#160;</td>
          <td class="paramname"><em>target_sensor_type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#a381f1c956494d6ee51829391abd1d59f">ob_point3f</a> *&#160;</td>
          <td class="paramname"><em>target_point3f</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">calibration_param</td><td>Device calibration param,see pipeline::getCalibrationParam </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">source_point3f</td><td>Source 3d point value </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">source_sensor_type</td><td>Source sensor type </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_sensor_type</td><td>Target sensor type </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">target_point3f</td><td>Target 3d point value </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>Log error messages</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>bool Transform result </dd></dl>

</div>
</div>
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          <td class="memname">bool ob_calibration_2d_to_3d </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a43c62630ddfd3f531f9a5ff624907f62">ob_calibration_param</a>&#160;</td>
          <td class="paramname"><em>calibration_param</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a2705c1be45a69c1e24d1e2e7930ac26f">ob_point2f</a>&#160;</td>
          <td class="paramname"><em>source_point2f</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>source_depth_pixel_value</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a>&#160;</td>
          <td class="paramname"><em>source_sensor_type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a>&#160;</td>
          <td class="paramname"><em>target_sensor_type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#a381f1c956494d6ee51829391abd1d59f">ob_point3f</a> *&#160;</td>
          <td class="paramname"><em>target_point3f</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">calibration_param</td><td>Device calibration param,see pipeline::getCalibrationParam </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">source_point2f</td><td>Source 2d point value </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">source_depth_pixel_value</td><td>The depth of sourcePoint2f in millimeters </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">source_sensor_type</td><td>Source sensor type </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_sensor_type</td><td>Target sensor type </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">target_point3f</td><td>Target 3d point value </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>Log error messages</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>bool Transform result </dd></dl>

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<a class="anchor" id="ac38fb189c2c0b3511f71f3361dc1cba9"></a>
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          <td class="memname">bool ob_calibration_2d_to_3d_undistortion </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a43c62630ddfd3f531f9a5ff624907f62">ob_calibration_param</a>&#160;</td>
          <td class="paramname"><em>calibration_param</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a2705c1be45a69c1e24d1e2e7930ac26f">ob_point2f</a>&#160;</td>
          <td class="paramname"><em>source_point2f</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>source_depth_pixel_value</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a>&#160;</td>
          <td class="paramname"><em>source_sensor_type</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a>&#160;</td>
          <td class="paramname"><em>target_sensor_type</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#a381f1c956494d6ee51829391abd1d59f">ob_point3f</a> *&#160;</td>
          <td class="paramname"><em>target_point3f</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">calibration_param</td><td>Device calibration param,see pipeline::getCalibrationParam </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">source_point2f</td><td>Source 2d point value </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">source_depth_pixel_value</td><td>The depth of sourcePoint2f in millimeters </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">source_sensor_type</td><td>Source sensor type </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_sensor_type</td><td>Target sensor type </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">target_point3f</td><td>Target 3d point value </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>Log error messages</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>bool Transform result </dd></dl>

</div>
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          <td class="memname">bool ob_calibration_3d_to_2d </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a43c62630ddfd3f531f9a5ff624907f62">ob_calibration_param</a>&#160;</td>
          <td class="paramname"><em>calibration_param</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a381f1c956494d6ee51829391abd1d59f">ob_point3f</a>&#160;</td>
          <td class="paramname"><em>source_point3f</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a>&#160;</td>
          <td class="paramname"><em>source_sensor_type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a>&#160;</td>
          <td class="paramname"><em>target_sensor_type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#a2705c1be45a69c1e24d1e2e7930ac26f">ob_point2f</a> *&#160;</td>
          <td class="paramname"><em>target_point2f</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">calibration_param</td><td>Device calibration param,see pipeline::getCalibrationParam </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">source_point3f</td><td>Source 3d point value </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">source_sensor_type</td><td>Source sensor type </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_sensor_type</td><td>Target sensor type </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">target_point2f</td><td>Target 2d point value </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>Log error messages</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>bool Transform result </dd></dl>

</div>
</div>
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          <td class="memname">bool ob_calibration_2d_to_2d </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a43c62630ddfd3f531f9a5ff624907f62">ob_calibration_param</a>&#160;</td>
          <td class="paramname"><em>calibration_param</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a2705c1be45a69c1e24d1e2e7930ac26f">ob_point2f</a>&#160;</td>
          <td class="paramname"><em>source_point2f</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>source_depth_pixel_value</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a>&#160;</td>
          <td class="paramname"><em>source_sensor_type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a>&#160;</td>
          <td class="paramname"><em>target_sensor_type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#a2705c1be45a69c1e24d1e2e7930ac26f">ob_point2f</a> *&#160;</td>
          <td class="paramname"><em>target_point2f</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel coordinate of the target camera. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">calibration_param</td><td>Device calibration param,see pipeline::getCalibrationParam </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">source_point2f</td><td>Source 2d point value </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">source_depth_pixel_value</td><td>The depth of sourcePoint2f in millimeters </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">source_sensor_type</td><td>Source sensor type </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_sensor_type</td><td>Target sensor type </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">target_point2f</td><td>Target 2d point value </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>Log error messages</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>bool Transform result </dd></dl>

</div>
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          <td class="memname"><a class="el" href="ObTypes_8h.html#a2d32dd7fcbb88ebb408e9f9081e6f896">ob_frame</a>* transformation_depth_frame_to_color_camera </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#a3c87c98acfd9b143bb58c731d95fa437">ob_device</a> *&#160;</td>
          <td class="paramname"><em>device</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#a2d32dd7fcbb88ebb408e9f9081e6f896">ob_frame</a> *&#160;</td>
          <td class="paramname"><em>depth_frame</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>target_color_camera_width</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>target_color_camera_height</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Transforms the depth frame into the geometry of the color camera. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">device</td><td>Device handle </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depth_frame</td><td>Input depth frame </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_color_camera_width</td><td>Target color camera width </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_color_camera_height</td><td>Target color camera height </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>Log error messages</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>ob_frame* Transformed depth frame </dd></dl>

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          <td class="memname">bool transformation_init_xy_tables </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a43c62630ddfd3f531f9a5ff624907f62">ob_calibration_param</a>&#160;</td>
          <td class="paramname"><em>calibration_param</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="ObTypes_8h.html#a01cba50d4d558e4c2035f09b698bb10b">ob_sensor_type</a>&#160;</td>
          <td class="paramname"><em>sensor_type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t *&#160;</td>
          <td class="paramname"><em>data_size</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aa3bed1b8098ff8d526d8a118b2de5af6">ob_xy_tables</a> *&#160;</td>
          <td class="paramname"><em>xy_tables</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Init transformation tables. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">calibration_param</td><td>Device calibration param,see pipeline::getCalibrationParam </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">sensor_type</td><td>sensor type </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>input data,needs to be allocated externally.During initialization, the external allocation size is 'data_size', for example, data_size = 1920<ul>
<li>1080 * 2*sizeof(float) (1920 * 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate). </li>
</ul>
</td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">data_size</td><td>input data size </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">xy_tables</td><td>output xy tables </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>Log error messages</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>bool Transform result </dd></dl>

</div>
</div>
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          <td class="memname">void transformation_depth_to_pointcloud </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aa3bed1b8098ff8d526d8a118b2de5af6">ob_xy_tables</a> *&#160;</td>
          <td class="paramname"><em>xy_tables</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const void *&#160;</td>
          <td class="paramname"><em>depth_image_data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">void *&#160;</td>
          <td class="paramname"><em>pointcloud_data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Transform depth image to point cloud data. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">xy_tables</td><td>input xy tables,see transformation_init_xy_tables </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depth_image_data</td><td>input depth image data </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">pointcloud_data</td><td>output point cloud data </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>Log error messages </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a96606c73d9837b12a3d4cc78aeabfab0"></a>
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      <table class="memname">
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          <td class="memname">void transformation_depth_to_rgbd_pointcloud </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aa3bed1b8098ff8d526d8a118b2de5af6">ob_xy_tables</a> *&#160;</td>
          <td class="paramname"><em>xy_tables</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const void *&#160;</td>
          <td class="paramname"><em>depth_image_data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const void *&#160;</td>
          <td class="paramname"><em>color_image_data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">void *&#160;</td>
          <td class="paramname"><em>pointcloud_data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structob__error.html">ob_error</a> **&#160;</td>
          <td class="paramname"><em>error</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Transform depth image to point cloud data. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">xy_tables</td><td>input xy tables,see transformation_init_xy_tables </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depth_image_data</td><td>input depth image data </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">color_image_data</td><td>input color image data (only RGB888 support) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">pointcloud_data</td><td>output point cloud data </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">error</td><td>Log error messages </td></tr>
  </table>
  </dd>
</dl>

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